Articulating Probe Head Apparatus and Method

ABSTRACT

Apparatus for a co-ordinate positioning machine is described that comprises an articulating probe head for supporting a measurement probe. The articulating probe head comprises at least one electric motor. Heating means are provided for generating heat in the articulating probe head. The heating means may be the motors or discrete heating elements. Temperature sensing means, such as one or more temperature sensors, is also provided for determining the temperature at the articulating probe head. The apparatus allows the temperature of the articulating probe head to be controlled.

The present invention relates to articulating probe head apparatus ofthe type used on co-ordinate positioning machines, such as co-ordinatemeasurement machines (CMMs) and the like. More particularly, theinvention relates to articulating probe head apparatus incorporatingtemperature sensing means for implementing temperature control and/orcompensation.

Articulating probe heads are known and have been described previouslyin, for example, EP360853, EP402440 and EP690286. A typical articulatingprobe head comprises a base that is attachable to the moveable arm of aco-ordinate positioning machine such as a machine tool or co-ordinatemeasuring machine (CMM). The articulating probe head is arranged tosupport a measurement probe with one or more degrees of rotationalfreedom relative to the moveable arm of the co-ordinate positioningmachine. Such an arrangement has a number of advantages; for example, itallows differently oriented surfaces to be inspected by the measurementprobe thereby allowing the probing of features on parts that wouldotherwise be inaccessible.

Articulating probe heads of the type described in EP690286 are so-called“indexing” heads. Such indexing heads comprise one or more motors thatare used to move the measurement probe between a number of predeterminedorientations that are fixed relative to the measurement arm of theco-ordinate positioning machine. Once the head is set in the desiredposition, co-ordinate measurements of a part are taken with themeasurement probe by moving the measurement arm of the machine (e.g. bymoving the arm along mutually orthogonal x, y and z axes). In otherwords, an indexing probe head is locked in a fixed position whilstco-ordinates are measured.

EP690286 also describes how a constant electrical current can besupplied to an indexing probe head in an attempt to keep the head inthermal equilibrium. In particular, EP690286 describes providing a heatgenerating means within the head that is activated when the drive motorsare inactive so that a constant current is supplied to the probe head.However, such an arrangement has a number of disadvantages. For example,despite a constant level of heat generation, the head will settle to atemperature that depends on the ambient temperature. This can introduceuncertainty into the measured co-ordinates when the machine is operatedin different environments.

EP402440 describes a further type of articulating probe head which isoften termed an “active” or “servoing” head. Herein, such heads aretermed active heads. In such an arrangement, the active head isconfigured to move the measurement probe relative to the base of thearticulating head whilst measurements are taken. This provides 4 or moreaxis measurement in which movement of the 3 linear axes of theco-ordinate positioning machine is combined with movement of the one ormore (e.g. two) rotational axes of the articulating head.

According to a first aspect of the invention, apparatus for aco-ordinate positioning machine is provided, the apparatus comprising anarticulating probe head for supporting a measurement probe, wherein thearticulating probe head comprises at least one electric motor and theapparatus comprises heating means for generating heat in thearticulating probe head, characterised in that the apparatus comprisestemperature sensing means for determining temperature at thearticulating probe head.

The present invention thus provides an articulating probe head that issuitable for mounting on a co-ordinate positioning machine, such as aco-ordinate measurement machine (CMM), machine tool or single axisstage. The articulating probe head is also arranged to retain ameasurement probe and the at least one electric motor allows, when asuitable drive current is applied, an attached measurement probe to bemoved (e.g. rotated about one or more axes) relative to the portion ofthe co-ordinate positioning machine on which the articulating head ismounted.

The apparatus also comprises heating means for generating heat in thearticulating probe head. The heating means may be located inside thearticulating probe head or may be remote to, for example attached to theouter casing of, the articulating probe head. The heating means mayconveniently comprise one or more sources of heat within the probe headand more preferably is arranged to generate heat at, and/or in thevicinity of, the at least one electric motor. As outlined in more detailbelow, the heating means may comprise discrete heating element(s) and/orthe at least one electric motor itself.

In addition, the articulating probe head comprises temperature sensingmeans for determining temperature at the articulating probe head. Forexample, the temperature sensing means may advantageously comprise atleast one temperature sensor mounted within, or attached to, thearticulating probe head thereby allowing the temperature of one or moreregions of the head to be measured. As described in more detail below,the temperature sensing means may be arranged to sense the temperatureat one or more points of the articulating head away from the at leastone electric motor and/or in the vicinity of the at least one electricmotor.

The apparatus of the present invention has a number of advantages overapparatus of the type described in EPG90286. As noted above, EP690286describes providing a heating current to the articulating head when themotors therein are inactive. Such a heating current is selected to besubstantially equal to the current required to drive the motor and it isthus assumed that the constant flow of heat into the active head willresult in thermal equilibrium being achieved.

It has, however, been found that the technique of EP690286 does notalways cause the articulating probe head to maintain the sametemperature profile. In particular, it has been found that the amount ofheat dissipated by an articulating head will vary with the orientationof that head. Furthermore, ambient temperature conditions will effectthe thermal equilibrium that is reached by the probe head. The use of adirect temperature measurement in accordance with the present inventionovercomes such disadvantages and provides an improved way of reducing,or ascertaining, the errors introduced into co-ordinate measurements dueto thermal expansion effects within an articulating probe head.

Preferably, the apparatus further comprises a temperature controller,the temperature controller being arranged to receive a temperaturesignal from the temperature sensing means and to selectively activatethe heating means so as to maintain the temperature sensed by thetemperature sensing means within a first temperature range. For example,the temperature controller may be arranged to keep the temperature, assensed by the temperature sensing means at a location within the probehead, at a first target temperature or within a first temperature range.The temperature controller thus provides control over heat generationwithin the head and allows the temperature at one or more locationswithin the probe head to be maintained at a certain target temperatureor within a certain temperature range. The temperature controller may bearranged to simply activate or deactivate the heating means as required(e.g. it may switch the heating means “on” or “off”). Alternatively, thetemperature controller may vary the power supplied to the heating meansas required.

The temperature controller is conveniently arranged to implement closedloop feedback control. The time constant of such a closed feedback loopmay be set as required and will depend on the heat capacity of the probehead and also the proximity of the heat source(s) to the position(s) atwhich the temperature is measured (e.g. the location of any temperaturesensor). The temperature controller may be located, at least in part, inthe articulating head and/or it may be provided, at least in part, in aseparate interface or controller that is remote to the articulatingprobe head.

The first temperature range may have upper and lower limits that areboth greater than 20° C., greater than 30° C., greater than 40° C. orgreater than 50° C. The width of the first predetermined temperaturerange (i.e. the difference between the upper and lower temperaturelimits) may advantageously be less than 20° C., less than 10° C., lessthan 5° C. or less than 1° C. The first temperature range may be fixedfor given apparatus or it may be user selectable. The temperaturecontroller may also be arranged to automatically select the temperaturerange by, for example, reference to the ambient temperature or fromhistorical temperature data of the environment in which the apparatus isoperating.

The temperature controller may also be arranged so that, on machinestart-up, the heating means are activated for a set period of time oruntil the temperature sensing means indicates that the first temperaturerange has been, or will shortly be, reached. To minimise the timerequired for the machine to reach its nominal operating temperature, thetemperature controller may be arranged so that the heating meansgenerates heat at an increased rate on start-up compared with the rateof heat generation that is subsequently used to maintain the temperaturewithin the desired range. In other words, an initial burst of heat maybe used to rapidly heat the articulating probe head to the desiredoperating temperature. It should be noted that this initial burst ofheat may be sufficient to increase the temperature of some regions ofthe head above the temperature at which those regions are subsequentlymaintained.

Advantageously, the articulating probe head comprises at least onediscrete heating element. For example, the probe head may contain one ormore resistive heating elements. The heating element(s) may be locatedin the vicinity of, or may be attached to, the one or more electricmotors. One or more of the heating elements may conveniently be attachedto or formed integrally with other heat generating components of thedevice; for example, a circuit board or other electrical component ofthe apparatus may comprise a heating element. A plurality of suchresistive heating elements may advantageously be provided. For example,if the head comprises a plurality of electric motors, a plurality ofheating elements may be located in the vicinity of each electric motor(e.g. one or more heating elements may be attached to each motorcasing). If a plurality of discrete heating elements are provided, suchelements may be connected in electrical series and/or in parallel asrequired. The heating means may conveniently comprise a heat source thatis located externally to the articulating probe head and transfers heatinto the head via, for example, a flow of heated fluid such as air.

If one or more discrete heating elements are provided, the controlsystem used to drive the electric motor(s) of the articulating head maybe provided separately to the temperature controller. For example, theelectronics implementing the temperature controller may be locatedwithin the articulating head. Electrical power may then be supplieddirectly to the temperature controller from a remote power source suchas the system controller. This would allow, for example, the motors tobe disengaged (e.g. between measurements, in response to an emergencystop, to reduce power consumption during periods of non-use etc) withoutalso having to deactivate the temperature stabilisation system of theapparatus. In such an arrangement, the temperature controller could evenbe constantly powered, if required, thereby keeping the articulatinghead at the desired temperature and removing the need to provide anykind of apparatus “warm-up”.

Instead of, or in addition to, providing separate heating element(s) theheating means may conveniently comprise the at least one electric motor.For example, the apparatus may advantageously include heating means thatare arranged such that the total electrical power supplied to the atleast one motor to produce a given torque can be varied. In this manner,the heating means may increase the electrical power supplied to the atleast one motor thereby increasing the heat generated by the motorwithout altering the torque that is produced by that motor. In otherwords, the efficiency of the motor can be controlled to achieve therequired heat input for any given torque.

Advantageously, the at least one electric motor is a brushless electricmotor and the heating means is arranged to control the relative phasebetween the multi-phase electrical power components that are supplied tosaid motor. The brushless motor may be a multi-phase AC motor; forexample, a three, four, five or six phase motor. The heating means maythen be arranged to control the relative phase-angle between themagnetic field generated by the electrical supply that is used to powersaid motor and the constant magnetic field of said motor. In otherwords, the heating means may be conveniently arranged to control therelative phase angle between the magnetic field generated by saidmulti-phase electrical power components applied to the motor windingsand the magnetic field generated by the component of the brushlesselectric motor that rotates relative to said motor windings.

The brushless motor may provide the required source of heat because thetorque the motor produces for a given total input current is related tothe angle between the magnetic field of the rotor and the resultantmagnetic field generated by the current flowing through the statorwindings (or vice versa where the phase windings rotate and the constantmagnetic field is stationary). When the two magnetic fields of a polepair are at 900 to each other torque is at a maximum (i.e. a tangentialtorque vector), when they are parallel no torque is produced (i.e. aradial torque vector). In other words, altering the relative phase-anglebetween the rotor magnetic field and the magnetic field generated by thecurrent components that are supplied to the motor may be used todecrease the overall efficiency (i.e. the amount of torque produced perWatt of electric power) of the electric motor. This allows more power tobe supplied to the motor for a given output torque and thus increasesthe heat generated by the motor without increasing the torque producedthereby.

It should also be noted that such apparatus is preferably arranged sothat the brushless electric motor can still produce maximum torque whenrequired. Furthermore, the heating means is advantageously arranged sothat when it is controlling the relative phase of the current componentssupplied to a motor there is a negligible associated effect on thepositional control of the apparatus. This can be readily achieved as thethermal time constant of the articulating head is typically long enoughfor a slow (e.g. seconds) temperature control loop to be establishedthat does not disturb the position control loop. In other words, thetemperature control loop may be arranged to have a much lower bandwidththan the position control loop.

Where a multi-pole brushless motor is used the same principle applies,except that the physical angle between winding-field and the rotor-field(i.e. that required to produce a given amount of torque and heat) mustbe divided by a constant appropriate for the number of poles.

A high frequency AC (i.e. a current having a frequency that issufficiently high so that no motor torque is induced) or direct current(DC) may also be supplied to an AC motor. Alternatively, an AC currentmay be supplied to generate heat in a DC motor. In other words, theheating means is conveniently arranged to supply an electrical currentto the at least one electric motor that has a frequency component thatinduces only heating of the coils of the motor.

The articulating probe head conveniently comprises a first electricmotor to drive the articulating head about a first rotational axis. Insuch a case, the temperature sensing means may be arranged to sensetemperature in the vicinity of the first electric motor. The temperaturesensing means may comprise a temperature sensor located in the vicinityof the electric motor; e.g. a temperature sensor may be attached to thecasing of the first electric motor.

The articulating probe head preferably comprises at least a firstelectric motor and a second electric motor. The inclusion of two motorsmay be used to drive the articulating head about two rotational axes.The temperature sensing means may then be arranged to sense temperaturein the vicinity of both the first and second electric motors. Forexample, the articulating head may conveniently comprise at least afirst temperature sensor and a second temperature sensor.Advantageously, the first temperature sensor is located in the vicinityof the first electric motor and the second temperature sensor is locatedin the vicinity of the second electric motor. For example, the firsttemperature sensor may be attached to the casing of the first electricmotor and/or the second temperature sensor may be attached to the casingof the second electric motor.

The articulating probe head may advantageously further comprise a thirdelectric motor. Providing three motors allows the articulating head tobe driven about three rotational axes. The temperature sensing means maythen be arranged to also sense temperature in the vicinity of the thirdelectric motor. For example, the articulating head may convenientlycomprise at least first, second and third temperature sensors. The thirdtemperature sensor may be attached to the casing of the third electricmotor.

Further motors (e.g. fourth, fifth etc motors) may also be provided ifrequired. Such motors may be used to drive the articulating head aboutan axis or for any additional purpose.

Apparatus having more than one motor (e.g. having first, second andthird motors) may advantageously comprises a temperature controller ofthe type described above. Such a temperature controller may be arrangedto receive a first temperature signal from the first temperature sensorthat is located in the vicinity of the first motor and to selectivelyheat the first motor so as to maintain the temperature sensed by thefirst temperature sensor within a first predetermined temperature range.Conveniently, the temperature controller is also arranged to receive asecond temperature signal from the second temperature sensor that islocated in the vicinity of the second motor and to selectively heat thesecond motor so as to maintain the temperature sensed by the secondtemperature sensor within a second predetermined temperature range. Thetemperature controller may also be advantageously arranged to receive athird temperature signal from the third temperature sensor located inthe vicinity of the third motor and to selectively heat the third motorso as to maintain the temperature sensed by the third temperature sensorwithin a third predetermined temperature range.

As described above, the electric motors of the articulating probe head(e.g. the first, second and third motors) may be heated directly byapplying appropriate drive signals thereto and/or separate heatingelements may be provided (e.g. attached to the motor casing) to permitsuch heating. The temperature controller can advantageously beconfigured to establish separate temperature control loops to maintaineach electric motor within a selected temperature range. For example,the first, second and third motors may be separately maintained attemperatures within first, second and third predetermined temperatureranges respectively.

The temperature controller may conveniently keep each motor (e.g. thefirst, second and third motors) at substantially the same temperature.For example, the first, second and third predetermined temperatureranges described above may be substantially the same. However, thetemperature controller is advantageously arranged to maintain each motorat a different temperature or within a different temperature range.Keeping the motors at different temperatures is typically preferredbecause the various motors of an articulating probe head are oftenlocated in different thermal environments within the articulating headand may thus dissipate different amounts of heat during use.Furthermore, the probe head may be arranged such that one of the motorsis required to perform more work, on average, than the other motor. Forexample, one motor may need to continually apply a higher torque tomaintain the required probe position against the force of gravity. Thetemperature ranges at which each motor is kept may be pre-set or set bythe user in the manner described above.

It should be noted that, if two or more electric motors are provided,each motor may be of the same type. For example, the motors may be threephase AC motors.

Alternatively, one motor may differ from another motor. For example, onemotor (e.g. the first motor) may be an AC motor and another motor (e.g.the second motor) may be a different type of AC motor or a DC motor.Different motors may also be arranged to impart substantially the same,or different, maximum toques. The skilled person would appreciate thetypes of motors that would be suitable for different applications anddifferent type of articulating heads.

Advantageously, the articulating probe head is an active or “servoing”head which scans the measurement probe across the part during themeasurement process. In such an active head device, the power suppliedto the motor(s) varies with time to change the measurement probeposition and/or to provide different torque during the scanning process.In other words, the motors are not simply turned on or off in an activehead but are powered continuously during use (even when the head isholding the measurement probe in a fixed orientation relative to theco-ordinate positioning machine).

Conveniently, the articulating probe head may be an indexing head or anarticulating probe head of any other known type.

Advantageously, a measurement probe is attached to the articulatingprobe head. The probe may be attached via a kinematic mount and/or maybe thermally isolated from the articulating head. Conveniently, themeasurement probe can be readily attached to, and detached from, thearticulating probe head.

The measurement probe may advantageously comprise a contact probe or anon-contact probe. Preferably, the contact probe comprises an opticalsensor. For example, a probe of the type described in EP1086354 may beused.

The at least one electric motor is conveniently arranged to control,during use, at least one of the velocity, position and acceleration ofthe measurement probe.

Advantageously, the temperature sensing means comprises at least onetemperature sensor. Each temperature sensor may comprise at least one ofa thermal resistor (a thermistor), a digital thermometer chip and abimetallic strip. However, any temperature sensor of known type may beused. Such a temperature sensor may require physical contact with thearticulating head or may be a non-contact thermal sensor such as athermal (infrared) detector.

A co-ordinate positioning machine may also be provided that comprisesthe articulating probe head apparatus described above. The articulatingprobe head may comprise a base portion that is releasably attachable tothe quill of the co-ordinate positioning machine. The co-ordinatepositioning machine may advantageously comprise a co-ordinatemeasurement machine (CMM), a machine tool or an inspection robot.

Co-ordinate positioning machines typically comprise a machine controller(such as a personal computer) to control their operation. For example,the machine controller may be arranged to supply electrical power to thelinear translation motors that move the quill holding the articulatinghead along the X, Y and Z axes of the machine. Advantageously, themachine controller of the co-ordinate positioning machine is adapted toalso control the at least one motor of the articulating head. In otherwords, the machine controller is adapted to control operation of thearticulating head. This control may be direct or may be via a controlinterface.

Conveniently, temperature signal(s) from the temperature sensing meansis also supplied to the machine controller. The machine controller maythus comprise the temperature controller described above.

The machine controller may also use temperature measured by thetemperature sensing means to correct co-ordinate measurements forthermal expansion effects and/or to indicate uncertainties associatedwith such measurements. For example, the measured temperature of thefirst, second and third motors may conveniently be used to correct for,or ascertain, thermal expansion effects within the articulating head.One or more additional temperature sensors may also be provided in theprobe head (e.g. away from the motors) to provide one or more generaltemperature readings. Temperature correction may be achieved usingcalibration data acquired with the articulating head at a number ofdifferent temperatures or the machine controller may be programmed witha number of correction factors to account for any variance of thetemperature away from a nominal level.

The temperature as measured by the at least one temperature sensor(especially an additional temperature sensor of the type describedabove) may be used to provide the user with an indication that theapparatus has achieved a nominal thermal level (i.e. that it has“warmed-up”).

According to a second aspect of the invention, a method of operating anarticulating probe head is provided, the articulating probe headcomprising at least one electric motor, wherein the method comprises thesteps of (a) measuring the temperature of one or more regions of theprobe head and (b) generating heat within the articulating head.Conveniently, step (b) comprises the step of generating heat within thearticulating head so as to maintain the temperature measured in step (a)within a temperature range (e.g. at a certain temperature aboveambient).

According to a further aspect of the invention, articulating headapparatus for a co-ordinate positioning machine is provided, theapparatus being arranged to retain a measurement probe and comprising atleast one motor for controlling, when a measurement probe is attached tosaid apparatus, at least one of the position, velocity and accelerationof said measurement probe, wherein the at least one motor isadditionally arranged to control the temperature of at least part ofsaid articulating head apparatus. Using a motor to generate heat withouteffecting the amount of torque it imparts is described in more detailabove. In this manner, it can be seen that the at least one motor can beused to provide control over both motion of the measurement probe andthe temperature of the articulating head.

According to a further aspect of the invention, apparatus for aco-ordinate positioning machine is provided, the apparatus comprising anarticulating probe head for supporting a measurement probe, wherein thearticulating probe head comprises at least one electric motor, whereinthe apparatus comprises a heater for generating heat in the articulatingprobe head and at least one temperature sensor for measuring temperatureat the articulating probe head.

The invention will now be described, by way of example only, withreference to the following drawings in which;

FIG. 1 shows an co-ordinate measurement machine (CMM) comprising anactive head,

FIG. 2 shows the active, articulating, head of the CMM of FIG. 1 in moredetail, and

FIG. 3 is a block diagram illustrating the control system of the CMM.

Referring to FIG. 1, a co-ordinate measuring machine (CMM) 2 is shown.The CMM 2 comprises a base 4 supporting a frame 6 which in turn holds aquill 8. Motors (not shown) are provided to move the quill 8 along thethree mutually orthogonal axes X, Y and Z.

The quill 8 holds an articulating probe head 10. The probe head 10 has abase portion 20 attached to the quill 8, an intermediate portion 22 anda probe retaining portion 24. The base portion 20 comprises a firstmotor (not shown) for rotating the intermediate portion 22 about a firstrotational axis 30. The intermediate portion 22 comprises a second motor(not shown) for rotating the probe retaining portion 24 about a secondrotational axis that is substantially perpendicular to the firstrotational axis. Although not shown, bearings may also be providedbetween the moveable parts of the articulating probe head.

A measurement probe 12 is attached (e.g. using a kinematic mount) to theprobe retaining portion 24. The measurement probe 12 may be a touchtrigger probe or an analogue probe including a stylus. The probe maycomprise an optical sensor. Alternatively, the probe may be anon-contacting probe such as an optical probe.

A machine controller 36 for controlling the operation of the CMM is alsoprovided. The machine controller may be a dedicated electronic controlsystem and/or may comprise a personal computer.

The probe head 10 is a so-called “active head” and, in use, the probehead 10 allows the measurement probe 12 to be moved with two degrees offreedom relative to the quill 8. The combination of the two degree offreedom provided by the probe head 10 and the three linear (X,Y,Z) axesof translation of the CMM allows the measurement probe 12 to be movedabout five axes. This permits so-called “five-axis” measurements of anassociated part 34 mounted to the base portion 20 of the machine.

The machine controller 36 is arranged to provide appropriate drivecurrents to the first and second motors so that, during use, each motorimparts the required torque. The torque imparted by each motor may beused to cause movement about the associated rotational axis or tomaintain a certain rotational position. It can thus be seen that, for anactive head, a drive current needs to be applied continuously to eachmotor of the active probe head 10 during use; i.e. each motor needs tobe powered even if there is no movement required about the associatedrotational axis.

It should be noted that FIG. 1 provides only a top level description ofa CMM comprising an active head. A more complete description of suchapparatus can be found elsewhere; for example, see EP402440 (especiallycolumns 6-20) the contents of which are incorporated herein byreference.

The inventors have found that thermal expansion effects within an activearticulating probe head of the type described with reference to FIG. 1can significantly degrade co-ordinate measurement accuracy. Inparticular, it has been found that the heat necessarily generated by themotors of the active head will heat parts of the probe head.Furthermore, the amount of such heating depends on the torque applied bythe motors and will thus vary with scanning speed and the force that isapplied when the probe scanned across the surface of a part.

In addition to variations in the power supplied to the motors of theactive head, it has also been found that the total amount and/or theprofile of heat dissipation from the probe head can vary with probe headorientation. In other words, thermal losses can differ when the activeprobe head is rotated about its two axes into different positions.

Variations in both the rate of heat generation and the amount of heatdissipation has been found to cause unpredictable variations in thethermal profile of the active head during use. Furthermore, the ambientthermal environment affects the overall thermal profile of the probehead. Following the above, it can be seen that significant variations inthe thermal profile of an articulating probe head can occur during use.Such temperature variations lead, in turn, to thermal expansion withinthe active head that can seriously degrade measurement accuracy.

A number of techniques for overcoming errors produced by thermalexpansion in indexing articulating heads have been described previouslyin EP690286. The prior methods include providing a heat source, such asa resistive heater, that has a constant heat output which issignificantly greater than the heat generated by the electric motors ofthe head. In such an arrangement, the additional heat generated by themotors produces an proportionally reduced amount of thermal expansion.

EP690286 also describes having a heat source that is only activated whenthe electric motors of the indexing head are inactive (i.e. when thearticulating head is locked in a certain measurement position) so that aconstant current is supplied to the probe head during operation. It can,however, be seen that the techniques of EP690286 are typically onlyapplicable to indexing heads where the motor is either on or off (i.e.not active heads where the power supplied to the motors varies duringuse). Furthermore, the technique relies on there being a substantiallyconstant rate of heat dissipation from the head and an invariant ambientthermal environment. Neither of these assumptions have been found to beacceptable when high accuracy measurements are required. An improvedtechnique of mitigating the effects of thermal expansion in anarticulating probe head in accordance with the present invention is thusdescribed below.

Referring to FIG. 2, an active head of the present invention is shown inmore detail. The features illustrated in FIG. 2 that are common to thosedescribed with reference to FIG. 1 have been assigned like referencenumerals. FIG. 2 thus shows an active head 10 having a base portion 20,an intermediate portion 22 and a probe retaining portion 24.

A first motor 40 mounted in the base portion 20 is provided to rotatethe intermediate portion 22 relative to the base portion 20 about thefirst rotational axis 30. A second motor 42 mounted in the intermediateportion 22 is provided to rotate the probe retaining portion 24 relativeto the intermediate portion 22 about the second rotational axis 44. Thefirst rotational axis 30 is often termed the “D-axis” whilst the secondrotational axis 44 is often called the “E-axis”. In this example, thefirst and second motors are both three-phase alternating current (AC)motors. However, other types of AC motor or direct current (DC) motorsmay alternatively be used.

The probe head 10 also comprises a first thermistor 46 attached to thecasing of the first motor 40 and a second thermistor 48 attached to thecasing of the second motor 42. Additional thermistors 50 and 52 are alsoprovided at different locations within the probe head casing. Althoughthermistors provide a simple, and cheap, way of measuring temperaturethe skilled person would appreciate the numerous temperature sensorsthat could alternatively be used.

Referring now to FIG. 3, a schematic illustration of the electroniclayout of the control system of the CMM described with reference toFIGS. 1 and 2 is provided. The control system comprises a machinecontroller 36 which may comprise, for example, a personal computer (PC).

The machine controller 36 provides a three phase power supply to each ofthe first motor 40 and the second motor 42 of the active head.Appropriate control signals are also provided to the motors 60 thatcontrol movement of the quill along the X, Y and Z axes. The machinecontroller 36 also receives a data signal from the measurement probe 12and each of the first, second and additional thermistors 46, 48, 50 and52.

The machine controller 36 includes a first control portion 64 that isarranged to supply a three phase drive signal to the first motor 40. Thefirst control portion 64 also receives a signal from the firstthermistor 46 that is indicative of the temperature of the casing of thefirst motor 40. In response to this temperature signal, the firstcontrol portion 64 is arranged to vary the total electrical power thatis supplied to the first motor 40 and hence the heat that is generatedthereby. It is however important to note that the three phase drivesignal is selected so that, during use, the motor 40 produces therequired amount of torque.

As would be appreciated by a skilled person, three phase AC motors arearranged to receive three alternating current signals. The phasedifference between the different components of the power supply createsa rotating electromagnetic field within the motor. If the currentcomponents are displaced in phase from each other by 120°, the motoroperates at optimum efficiency. However, altering the phase between thethree AC components away from the optimum level will decrease theefficiency of the motor. In other words, more electrical power (i.e. anincreased current) is required for the motor to produce the same amountof torque. It can therefore be seen that the heat generated by a threephase motor can be increased without any corresponding increase in thetorque that is imparted by the motor. To keep the centre of the magneticfield generated by the currents near the axis of motor rotation, it ispreferred that the phase of the current components are altered so as tocontrol the relative phase-angle between the magnetic field generated bythe electric current and the constant magnetic field of said motor.Although by no means essential, this reduces the out of centre forcesthat may otherwise be present.

The first control portion 64 is thus arranged to control the relativephase and amplitude of the three phase power supply provided to thefirst motor 40 to (a) cause the required torque to be imparted by themotor and (b) generate the required amount of heat within the motor.Control over the heat generated by the first motor allows a closedfeedback control loop to be established to maintain the temperature ofthe first motor within a first predetermined temperature range.

The second control portion 66 allows a separate feedback loop to beestablished to maintain the temperature of the second motor 42 within asecond predetermined temperature range. The first and secondpredetermined temperature ranges may be the same or different. Thetemperature range(s) may be factory set, or a number of such ranges maybe provided for operation in different ambient environments.Alternatively, the temperature range(s) may be defined relative to anambient or other temperature reading.

Although separate control loops are described, it would be possible toimplement a single temperature control system for both motors using oneor more of the thermistors. Similarly, the temperature measurements fromany one or more of the additional thermistors 50 and 52 may be used inthe feedback loop of the first and/or second control portions. It is,however, preferable for the temperature sensor used in the feedback loopto be located near the heat source so as to minimise any control loopinstabilities or oscillations that may arise from thermal lag effects.

It should be noted that although altering the relative phase of thethree phase power supply can cause the required heating effect, otherways of generating heat within the probe head are possible. For example,an AC component could be supplied to the motors that has a sufficientlyhigh frequency to heat the motor coils without imparting any torque.High frequency AC heating of this type could also be used with differenttypes of motor, e.g. DC or single phase AC motors. Instead of using themotor as the heat source, it would also be possible to provide separateheat sources. For example, one or more resistive heating elements couldbe provided. Such heating elements could be located inside the housingof the probe head or attached to the external surface of the head.

In addition to, or instead of, providing closed loop temperature controlthe machine controller may use the temperature measured by one or moreof the thermistors dto compensate for thermal errors in the co-ordinatemeasurements. For example, the additional thermistors 50 and/or 52 maybe used to provide a general measure of the temperature of the activehead. This measured temperature could then be used, in conjunction withpreviously acquired calibration data, to correct the co-ordinatemeasurements acquired by the machine. In other words, a compensationfactor could be used to correct the measured co-ordinates for changes inthe temperature of the active head.

It should also be remembered that FIG. 3 simply illustrates thefunctionality of a CMM control system. In particular, the variouscomponents of the machine controller 36 may not be physically located inthe same box, but may be placed at different locations on the machine.For example, the probe head itself may contain some or all of theelectronics of the first and second control portions 64 and 66.

Although an “active” articulating head is described above, the inventionis also applicable to other types of articulating head. For example, anindexing head would also experience different amounts of heatdissipation with head orientation and would also have a temperatureprofile that depends on the ambient temperature. The present inventioncan thus be seen to have advantages over the techniques of EP690286 whenapplied to an indexing articulating head.

It should be noted that although the examples described with referenceto FIGS. 1-3 relate to a CMM, the articulating probe head could bemounted to any type of co-ordinate positioning machine. The articulatingprobe head could, for example, be mounted to a machine tool.

1. Apparatus for a co-ordinate positioning machine, the apparatuscomprising an articulating probe head for supporting a measurementprobe, wherein the articulating probe head comprises at least oneelectric motor and the apparatus comprises heating means for generatingheat in the articulating probe head, wherein the apparatus comprisestemperature sensing means for determining temperature at thearticulating probe head.
 2. An apparatus according to claim 1 whereinthe articulating head comprises the temperature sensing means, saidtemperature sensing means comprising at least one temperature sensor. 3.An apparatus according to claim 2 wherein the at least one temperaturesensor comprises a thermal resistor.
 4. An apparatus according to claim1 wherein the temperature sensing means is arranged to sense thetemperature at one or more points of the articulating head away from theat least one electric motor.
 5. An apparatus according to claim 1comprising a temperature controller, the temperature controller beingarranged to receive a temperature signal from the temperature sensingmeans and to selectively activate the heating means so as to maintainthe temperature sensed by the temperature sensing means within a firsttemperature range.
 6. An apparatus according to claim 5 wherein thetemperature controller is arranged so that the heating means generatesheat at an increased rate on apparatus start-up compared with the rateof heat generation that is subsequently used to maintain the temperaturewithin the first temperature range.
 7. An apparatus according to claim 1wherein the heating means comprises at least one discrete heatingelement.
 8. An apparatus according to claim 1 wherein the heating meansis arranged such that the total electric power supplied to the at leastone motor to produce a given torque can be varied.
 9. An apparatusaccording to claim 8 wherein the at least one electric motor is abrushless electric motor and the heating means is arranged to controlthe relative phase between the multi-phase electrical power componentsthat are supplied to said motor.
 10. An apparatus according to claim 9wherein the heating means is arranged to control the relative phaseangle between the magnetic field generated by said multi-phaseelectrical power components applied to the motor windings and themagnetic field generated by the component of the brushless electricmotor that rotates relative to said motor windings.
 11. An apparatusaccording to claim 1 wherein the heating means is arranged to supply anelectrical current to the at least one motor having a frequencycomponent that induces only heating of the coils of the motor.
 12. Anapparatus according to claim 12 that comprises an articulating headhaving at least a first electric motor and a second electric motor. 13.An apparatus according to claim 12 that comprises an articulating headfurther comprising at least a third electric motor.
 14. An apparatusaccording to claim 1 wherein the articulating head comprises thetemperature sensing means, the temperature sensing means comprising atleast a first temperature sensor and a second temperature sensor.
 15. Anapparatus according to claim 12 wherein the articulating head comprisesthe temperature sensing means, the temperature sensing means comprisingat least a first temperature sensor and a second temperature sensor, andthe first temperature sensor is located in the vicinity of the firstelectric motor and the second temperature sensor is located in thevicinity of the second electric motor.
 16. An apparatus according toclaim 15 wherein the first temperature sensor is attached to the casingof the first electric motor and the second temperature sensor isattached to the casing of the second electric motor.
 17. An apparatusaccording to claim 15 comprising a temperature controller, thetemperature controller being arranged to receive a first temperaturesignal from the first temperature sensor and to selectively heat thefirst motor so as to maintain the temperature sensed by the firsttemperature sensor within a first predetermined temperature range. 18.An apparatus according to claim 17 wherein the temperature controller isarranged to receive a second temperature signal from the secondtemperature sensor and to selectively heat the second motor so as tomaintain the temperature sensed by the second temperature sensor withina second predetermined temperature range.
 19. An apparatus according toclaim 1 wherein the articulating probe head is an active probe head. 20.An apparatus according to claim 1 wherein a measurement probe isattached to the articulating probe head.
 21. An apparatus according toclaim 20 wherein the measurement probe comprises a non-contact probe.22. An apparatus according to claim 20 wherein the measurement probecomprises a contact probe.
 23. An apparatus according to claim 22wherein the contact probe comprises an optical sensor.
 24. An apparatusaccording to claim 20 wherein the at least one electric motor isarranged to control at least one of the velocity, position andacceleration of the measurement probe.
 25. A co-ordinate positioningmachine comprising apparatus according to claim
 1. 26. A machineaccording to claim 25 comprising a machine controller wherein themachine controller is adapted to control the at least one motor of thearticulating head.
 27. A machine according to claim 26 wherein a signalfrom the temperature sensing means is supplied to the machinecontroller.
 28. A machine according to claim 27 wherein the temperatureas measured by the temperature sensing means is used by the machinecontroller to correct co-ordinate measurements for thermal expansioneffects.
 29. Articulating head apparatus for a co-ordinate positioningmachine, the apparatus being arranged to retain a measurement probe andcomprising at least one motor for controlling, when a measurement probeis attached to said apparatus, at least one of the position, velocityand acceleration of said measurement probe, wherein the at least onemotor is additionally arranged to control the temperature of at leastpart of said articulating head apparatus.
 30. A method of operating anarticulating probe head, the articulating probe head comprising at leastone electric motor, wherein the method comprises the steps of (a)measuring the temperature of one or more regions of the probe head and(b) generating heat within the articulating head.
 31. A method accordingto claim 30 wherein step (b) comprises the step of generating heatwithin the articulating head so as to maintain the temperature measuredin step (a) within a temperature range.
 32. (canceled)
 33. (canceled)